The size of an iRobot is around \(0.4m\)  in diameter. Given the cluttered workspace, a local collision avoidance scheme is needed for successful point-to-point navigation as an important part of the plan execution.
In this work, we rely on the method of reciprocal velocity obstacles (RVO) introduced in [1]}. However, since the original algorithm is developed mainly for nonholonomic robots, not for the unicycle robots considered here, we need to introduce a transition period during which the robots turn in place towards the desired direction determined by the RVO method, before moving forward.
